Year: 2021
Type: conference-paper
Abstract: Dense depth estimation is essential to scene-understanding for autonomous driving. However, recent self-supervised approaches on monocular videos suffer from scale-inconsistency across long sequences. Utilizing data from the ubiquitously copresent global positioning systems (GPS), we tackle this challenge by proposing a dynamically-weighted GPS-to-Scale (g2s) loss to complement the appearance-based losses. We emphasize that the GPS is needed only during the multimodal training, and not at inference. The relative distance between frames captured through the GPS provides a scale signal that is independent of the camera setup and scene distribution, resulting in richer learned feature representations. Through extensive evaluation on multiple datasets, we demonstrate scale-consistent and -aware depth estimation during inference, improving the performance even when training with low-frequency GPS data.
Language: English
Topic: Advanced Vision and Imaging
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W3135861835